关键词: 康复手套, 弯曲软手指, 理论模型, 穿戴实验

Abstract:

This study presents the design of a novel wearable soft rehabilitation glove with internal palm support, aimed at assisting patients with hand dysfunction due to stroke, hemiplegia, and other conditions in performing finger extension rehabilitation exercises. The glove is adaptable to various hand sizes and consists of a soft, deformable palm, monolithic bending soft fingers, and a soft textile wearable device. Based on the Yeoh model and the principle of virtual work, an equivalence method is used to derive an expression for the average wall thickness of the cross-section of the bending soft fingers. The relationship between air pressure, external torque, and bending angle of the monolithic bending soft fingers is established, leading to a theoretical model for finger bending under varying air pressure and external torque conditions. The model's accuracy is validated through free bending experiments. Additionally, force measurement experiments determine the deformation compression force of the soft deformable palm, as well as the output force and torque of the bending soft fingers. Rehabilitation glove wearing experiments for subjects with different finger lengths are conducted, confirming the glove's wearable effectiveness.

Key words: rehabilitation glove, bending soft finger, theoretical model, wearing experiment